Update LiveWindow to provide continuous telemetry. (#771)

LiveWindow.updateValues() is now called from IterativeRobotBase on every
loop iteration.  Telemetry for all WPILib classes is enabled by default;
it can be disabled for specific classes using LiveWindow.disableTelemetry(),
or all telemetry can be disabled using LiveWindow.disableAllTelemetry().

This necessitated changing the hook methodology into other classes to
be more property-based rather than each class providing multiple functions.
This had the benefit of reducing boilerplate and increasing consistency.

- Remove NamedSendable, add name to Sendable.

- Provide SendableBase abstract class.

- Deprecate LiveWindow addSensor/addActuator interfaces.

- Add LiveWindow support to drive classes.

- Add addChild() helper functions to Subsystem.

- Fix inheritance hierarchy.  Now only sensors inherit from SensorBase.
  Other devices inherit from some combination of SendableBase, ErrorBase, or
  nothing.

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Robot.java

@@ -10,7 +10,6 @@ package edu.wpi.first.wpilibj.examples.gearsbot;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
@@ -96,7 +95,6 @@ public class Robot extends IterativeRobot {
 	 */
 	@Override
 	public void testPeriodic() {
-		LiveWindow.run();
 	}
 
 	/**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java

@@ -8,10 +8,8 @@
 package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
  * The claw subsystem is a simple system with a motor for opening and closing.
@@ -20,15 +18,15 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
  */
 public class Claw extends Subsystem {
 
-	private SpeedController m_motor = new Victor(7);
+	private Victor m_motor = new Victor(7);
 	private DigitalInput m_contact = new DigitalInput(5);
 
 	public Claw() {
 		super();
 
-		// Let's show everything on the LiveWindow
-		LiveWindow.addActuator("Claw", "Motor", (Victor) m_motor);
-		LiveWindow.addActuator("Claw", "Limit Switch", m_contact);
+		// Let's name everything on the LiveWindow
+		addChild("Motor", m_motor);
+		addChild("Limit Switch", m_contact);
 	}
 
 	@Override

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java

@@ -18,7 +18,6 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
 import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDriveWithJoystick;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
@@ -58,11 +57,12 @@ public class DriveTrain extends Subsystem {
 			m_rightEncoder.setDistancePerPulse((4.0 / 12.0 * Math.PI) / 360.0);
 		}
 
-		// Let's show the sensors on the LiveWindow
-		LiveWindow.addSensor("Drive Train", "Left Encoder", m_leftEncoder);
-		LiveWindow.addSensor("Drive Train", "Right Encoder", m_rightEncoder);
-		LiveWindow.addSensor("Drive Train", "Rangefinder", m_rangefinder);
-		LiveWindow.addSensor("Drive Train", "Gyro", m_gyro);
+		// Let's name the sensors on the LiveWindow
+		addChild("Drive", m_drive);
+		addChild("Left Encoder", m_leftEncoder);
+		addChild("Right Encoder", m_rightEncoder);
+		addChild("Rangefinder", m_rangefinder);
+		addChild("Gyro", m_gyro);
 	}
 
 	/**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java

@@ -8,12 +8,9 @@
 package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
-import edu.wpi.first.wpilibj.interfaces.Potentiometer;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
@@ -23,8 +20,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  */
 public class Elevator extends PIDSubsystem {
 
-	private SpeedController m_motor;
-	private Potentiometer m_pot;
+	private Victor m_motor;
+	private AnalogPotentiometer m_pot;
 
 	private static final double kP_real = 4;
 	private static final double kI_real = 0.07;
@@ -48,10 +45,9 @@ public class Elevator extends PIDSubsystem {
 			m_pot = new AnalogPotentiometer(2); // Defaults to meters
 		}
 
-		// Let's show everything on the LiveWindow
-		LiveWindow.addActuator("Elevator", "Motor", (Victor) m_motor);
-		LiveWindow.addSensor("Elevator", "Pot", (AnalogPotentiometer) m_pot);
-		LiveWindow.addActuator("Elevator", "PID", getPIDController());
+		// Let's name everything on the LiveWindow
+		addChild("Motor", m_motor);
+		addChild("Pot", m_pot);
 	}
 
 	@Override
@@ -62,7 +58,7 @@ public class Elevator extends PIDSubsystem {
 	 * The log method puts interesting information to the SmartDashboard.
 	 */
 	public void log() {
-		SmartDashboard.putData("Wrist Pot", (AnalogPotentiometer) m_pot);
+		SmartDashboard.putData("Elevator Pot", (AnalogPotentiometer) m_pot);
 	}
 
 	/**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java

@@ -8,12 +8,9 @@
 package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
 
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
-import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
-import edu.wpi.first.wpilibj.interfaces.Potentiometer;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 /**
@@ -22,8 +19,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
  */
 public class Wrist extends PIDSubsystem {
 
-	private SpeedController m_motor;
-	private Potentiometer m_pot;
+	private Victor m_motor;
+	private AnalogPotentiometer m_pot;
 
 	private static final double kP_real = 1;
 	private static final double kP_simulation = 0.05;
@@ -45,10 +42,9 @@ public class Wrist extends PIDSubsystem {
 			m_pot = new AnalogPotentiometer(3); // Defaults to degrees
 		}
 
-		// Let's show everything on the LiveWindow
-		LiveWindow.addActuator("Wrist", "Motor", (Victor) m_motor);
-		LiveWindow.addSensor("Wrist", "Pot", (AnalogPotentiometer) m_pot);
-		LiveWindow.addActuator("Wrist", "PID", getPIDController());
+		// Let's name everything on the LiveWindow
+		addChild("Motor", m_motor);
+		addChild("Pot", m_pot);
 	}
 
 	@Override

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java

@@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
  * The VM is configured to automatically run this class, and to call the
@@ -78,6 +77,5 @@ public class Robot extends IterativeRobot {
 	 */
 	@Override
 	public void testPeriodic() {
-		LiveWindow.run();
 	}
 }

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java

@@ -10,7 +10,6 @@ package edu.wpi.first.wpilibj.examples.pacgoat;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
@@ -103,7 +102,6 @@ public class Robot extends IterativeRobot {
 	// This function called periodically during test mode
 	@Override
 	public void testPeriodic() {
-		LiveWindow.run();
 	}
 
 	@Override

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java

@@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
  * The Collector subsystem has one motor for the rollers, a limit switch for
@@ -33,10 +32,10 @@ public class Collector extends Subsystem {
 
 	public Collector() {
 		// Put everything to the LiveWindow for testing.
-		LiveWindow.addActuator("Collector", "Roller Motor", (Victor) m_rollerMotor);
-		LiveWindow.addSensor("Collector", "Ball Detector", m_ballDetector);
-		LiveWindow.addSensor("Collector", "Claw Open Detector", m_openDetector);
-		LiveWindow.addActuator("Collector", "Piston", m_piston);
+		addChild("Roller Motor", (Victor) m_rollerMotor);
+		addChild("Ball Detector", m_ballDetector);
+		addChild("Claw Open Detector", m_openDetector);
+		addChild("Piston", m_piston);
 	}
 
 	/**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/DriveTrain.java

@@ -17,7 +17,6 @@ import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.SpeedControllerGroup;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveWithJoystick;
@@ -43,14 +42,10 @@ public class DriveTrain extends Subsystem {
 
 	public DriveTrain() {
 		// Configure drive motors
-		LiveWindow.addActuator("DriveTrain", "Front Left CIM",
-				(Victor) m_frontLeftCIM);
-		LiveWindow.addActuator("DriveTrain", "Front Right CIM",
-				(Victor) m_frontRightCIM);
-		LiveWindow.addActuator("DriveTrain", "Back Left CIM",
-				(Victor) m_rearLeftCIM);
-		LiveWindow.addActuator("DriveTrain", "Back Right CIM",
-				(Victor) m_rearRightCIM);
+		addChild("Front Left CIM", (Victor) m_frontLeftCIM);
+		addChild("Front Right CIM", (Victor) m_frontRightCIM);
+		addChild("Back Left CIM", (Victor) m_rearLeftCIM);
+		addChild("Back Right CIM", (Victor) m_rearRightCIM);
 
 		// Configure the DifferentialDrive to reflect the fact that all motors
 		// are wired backwards (right is inverted in DifferentialDrive).
@@ -75,14 +70,14 @@ public class DriveTrain extends Subsystem {
 					(4.0/* in */ * Math.PI) / (360.0 * 12.0/* in/ft */));
 		}
 
-		LiveWindow.addSensor("DriveTrain", "Right Encoder", m_rightEncoder);
-		LiveWindow.addSensor("DriveTrain", "Left Encoder", m_leftEncoder);
+		addChild("Right Encoder", m_rightEncoder);
+		addChild("Left Encoder", m_leftEncoder);
 
 		// Configure gyro
 		if (Robot.isReal()) {
 			m_gyro.setSensitivity(0.007); // TODO: Handle more gracefully?
 		}
-		LiveWindow.addSensor("DriveTrain", "Gyro", m_gyro);
+		addChild("Gyro", m_gyro);
 	}
 
 	/**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pivot.java

@@ -13,7 +13,6 @@ import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.Victor;
 import edu.wpi.first.wpilibj.command.PIDSubsystem;
 import edu.wpi.first.wpilibj.interfaces.Potentiometer;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
@@ -49,12 +48,11 @@ public class Pivot extends PIDSubsystem {
 		}
 
 		// Put everything to the LiveWindow for testing.
-		LiveWindow.addSensor("Pivot", "Upper Limit Switch", m_upperLimitSwitch);
-		LiveWindow.addSensor("Pivot", "Lower Limit Switch", m_lowerLimitSwitch);
-		LiveWindow.addSensor("Pivot", "Pot", (AnalogPotentiometer) m_pot);
-		LiveWindow.addActuator("Pivot", "Motor", (Victor) m_motor);
-		LiveWindow.addActuator("Pivot", "PIDSubsystem Controller",
-				getPIDController());
+		addChild("Upper Limit Switch", m_upperLimitSwitch);
+		addChild("Lower Limit Switch", m_lowerLimitSwitch);
+		addChild("Pot", (AnalogPotentiometer) m_pot);
+		addChild("Motor", (Victor) m_motor);
+		addChild("PIDSubsystem Controller", getPIDController());
 	}
 
 	/**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Pneumatics.java

@@ -9,7 +9,6 @@ package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
 
 import edu.wpi.first.wpilibj.AnalogInput;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
@@ -26,7 +25,7 @@ public class Pneumatics extends Subsystem {
 	private static final double kMaxPressure = 2.55;
 
 	public Pneumatics() {
-		LiveWindow.addSensor("Pneumatics", "Pressure Sensor", m_pressureSensor);
+		addChild("Pressure Sensor", m_pressureSensor);
 	}
 
 	/**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java

@@ -11,7 +11,6 @@ import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 
 /**
  * The Shooter subsystem handles shooting. The mechanism for shooting is
@@ -35,12 +34,10 @@ public class Shooter extends Subsystem {
 
 	public Shooter() {
 		// Put everything to the LiveWindow for testing.
-		LiveWindow.addSensor("Shooter", "Hot Goal Sensor", m_hotGoalSensor);
-		LiveWindow.addSensor("Shooter", "Piston1 Reed Switch Front ",
-				m_piston1ReedSwitchFront);
-		LiveWindow.addSensor("Shooter", "Piston1 Reed Switch Back ",
-				m_piston1ReedSwitchBack);
-		LiveWindow.addActuator("Shooter", "Latch Piston", m_latchPiston);
+		addChild("Hot Goal Sensor", m_hotGoalSensor);
+		addChild("Piston1 Reed Switch Front ", m_piston1ReedSwitchFront);
+		addChild("Piston1 Reed Switch Back ", m_piston1ReedSwitchBack);
+		addChild("Latch Piston", m_latchPiston);
 	}
 
 	/**

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/Robot.java

@@ -10,7 +10,6 @@ package edu.wpi.first.wpilibj.templates.commandbased;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
-import edu.wpi.first.wpilibj.livewindow.LiveWindow;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.templates.commandbased.commands.ExampleCommand;
@@ -119,6 +118,5 @@ public class Robot extends TimedRobot {
 	 */
 	@Override
 	public void testPeriodic() {
-		LiveWindow.run();
 	}
 }